Related papers: Adaptive Tuning of Feedback Gain in Time-Delayed F…
Unmanned ground vehicles operating in complex environments must adaptively adjust to modeling uncertainties and external disturbances to perform tasks such as wall following and obstacle avoidance. This paper introduces an adaptive control…
Adaptive control is a critical component of reliable robot autonomy in rapidly changing operational conditions. Adaptive control designs benefit from a disturbance model, which is often unavailable in practice. This motivates the use of…
The vibro-impact capsule system is a self-propelled mechanism that has abundant coexisting attractors and moves rectilinearly under periodic excitation when overcoming environmental resistance. In this paper, we study the control of…
High performance tracking control can only be achieved if a good model of the dynamics is available. However, such a model is often difficult to obtain from first order physics only. In this paper, we develop a data-driven control law that…
For linear time-invariant systems, input-state data collected during an open-loop experiment can remedy the lack of knowledge of system parameters. However, such data do not contain information about other system uncertainties such as…
We study the synchronization and stability of power grids within the Kuramoto phase oscillator model with inertia with a bimodal frequency distribution representing the generators and the loads. We identify critical nodes through solitary…
This paper presents a novel methodology to develop scheduling algorithms. The scheduling problem is phrased as a control problem, and control-theoretical techniques are used to design a scheduling algorithm that meets specific requirements.…
We develop a switched predictor-feedback law, which achieves global asymptotic stabilization of linear systems with input delay and with the plant and actuator states available only in (almost) quantized form. The control design relies on a…
We demonstrate that chaos can be controlled using a multiplicative exponential feedback control. All three types of unstable orbits - unstable fixed points, limit cycles and chaotic trajectories can be stabilized using this control. The…
An adaptive controller with bounded l2-gain from disturbances to errors is derived for linear time-invariant systems with uncertain parameters restricted to a finite set. The gain bound refers to the closed loop system, including the…
This paper introduces a novel stabilization control strategy for linear time-invariant systems affected by known time-varying measurement delays and matched unknown nonlinear disturbances, which may encompass actuator faults. It is…
We consider the problem of adaptive stabilization for discrete-time, multi-dimensional linear systems with bounded control input constraints and unbounded stochastic disturbances, where the parameters of the true system are unknown. To…
This paper presents a new parameter estimation algorithm for the adaptive control of a class of time-varying plants. The main feature of this algorithm is a matrix of time-varying learning rates, which enables parameter estimation error…
An online, adaptive method of time delay and magnitude estimation for sinusoidal signals is presented. The method is based on an adaptive gradient descent algorithm that directly determines the time delay and magnitudes of two noisy…
We prove an analytical limitation on the use of time-delayed feedback control for the stabilization of periodic orbits in autonomous systems. This limitation depends on the number of real Floquet multipliers larger than unity, and is…
The increasing ease of obtaining and processing data together with the growth in system complexity has sparked the interest in moving from conventional model-based control design towards data-driven concepts. Since in many engineering…
The key challenges in design of predictor-based control laws for switched systems with arbitrary switching and long input delay are the potential unavailability of the future values of the switching signal (at current time) and the fact…
The paper presents a new control algorithm for unstable linear systems with input delay. In comparison with known analogues, the control law has been designed, which is a modification of the Smith predictor, and is the simplest one to…
This paper deals with the tracking control problem for a class of unknown pure feedback system with pure state constraints on the state variables and unknown time-varying bounded disturbances. An adaptive controller is presented for such…
The PID controller parameters can be adjusted in such a manner that it gives the desired frequency response and the results are found using the Bodes integral formula in order to adjust the slope of the nyquist curve in a desired manner.…